CN218880788U

CN218880788U - Garbage collection robot based on lizard-simulated treading movement

Info

Publication number: CN218880788U
Application number: CN202223250321.6U
Authority: CN
Inventors: 毛鑫婕; 王彬彬; 王力涵; 黄洁; 刘璇; 王显宗
Original assignee: Tianjin University of Science and Technology
Current assignee: Tianjin University of Science and Technology
Priority date: 2022-12-06
Filing date: 2022-12-06
Publication date: 2023-04-18
Anticipated expiration: 2032-12-06

Abstract

The utility model relates to the technical field of robots, in particular to a garbage collection robot based on lizard-imitated treading motion, which comprises a garbage collection box, a collection crawler and a garbage collection arm, wherein the lower part of the garbage collection box is fixed with a bottom shell, a driving motor is arranged inside the bottom shell, the output end of the driving motor is connected with Watt-I connecting rod mechanisms positioned at two sides of the bottom shell, the tail end of the Watt-I connecting rod mechanism is connected with a flipper, a steering motor is arranged at the rear part inside the bottom shell, the output end of the steering motor is connected with a steering rod, and the lower end of the steering rod is connected with a tail fin; a fixed support is arranged behind the upper portion of the garbage collection box and connected with one end of a buoy connecting rod, and the other end of the buoy connecting rod is connected with a buoy. The device adopts a motion mode of walking by treading water on lizards, is sufficiently powered, is small and flexible, and is not easy to wind sundries.

Description

Garbage collection robot based on lizard-simulated treading motion

Technical Field

The utility model relates to the technical field of robots, especially a garbage collection robot based on lizard simulated step motion.

Background

The existing water garbage collecting device comprises: the net bag type recovery device collects garbage through the configured collection net; the fence type recovery device is suitable for large water areas; utilize the arm to carry out the collection device of rubbish. If the Chinese patent discloses a surface garbage salvage ship, the application number: 202011637433X, including hull structure, first conveyer belt and two guider, the prelude of hull structure is seted up jaggedly, is equipped with the storage tank in the hull structure, and first through-hole and second through-hole have been seted up to the last side of hull structure, and first conveyer belt sets up in the breach along the length direction of hull structure, and two guider symmetries set up the left and right sides at the breach, and two guider can promote the rubbish of hull structure prelude to first conveyer belt. The power of the garbage salvage ship is driven by the propeller, the situation in water is very complicated in dirty water areas, and the propeller is easily wound by various garbage such as plastics, aquatic plants, garbage bottles and cans, so that the garbage ship loses power. In addition, the existing salvage ship is large in size, is not suitable for garbage salvage on the water surface of a small lake, and is high in overall cost.

SUMMERY OF THE UTILITY MODEL

The utility model discloses an effectual problem among the above-mentioned background of solution provides a garbage collection robot based on imitative lizard motion of stepping on water.

The specific technical scheme is as follows;

a garbage collection robot based on lizard-imitated treading motion comprises a garbage collection box, a collection crawler and a garbage collection arm, wherein the garbage collection arm is mounted at the front part of the collection crawler, the garbage collection box is mounted at the rear part of the collection crawler, a bottom shell is fixed at the lower part of the garbage collection box, a driving motor is arranged inside the bottom shell, the output end of the driving motor is connected with Watt-I connecting rod mechanisms positioned at two sides of the bottom shell, the tail end of the Watt-I connecting rod mechanism is connected with a flipper, a steering motor is arranged behind the inner part of the bottom shell, the output end of the steering motor is connected with a steering rod, and the lower end of the steering rod is connected with a tail fin; the garbage collection box is characterized in that a fixed support is arranged at the rear of the upper part of the garbage collection box, the fixed support is connected with one end of a buoy connecting rod, and the other end of the buoy connecting rod is connected with a buoy.

Preferably, the collecting crawler is provided with a V-shaped guide plate, and the lower end of the V-shaped guide plate is provided with an opening.

Preferably, vertical plates are respectively arranged on two sides of the collecting crawler.

Preferably, the number of the buoy connecting rods and the number of the buoys are two, the buoy connecting rods and the buoys are located on two sides of the garbage collection box, and the buoys are of hemispherical structures.

Preferably, the bottom shell is internally provided with a circuit control board and a battery.

Preferably, a camera is arranged at the position of the collecting opening of the collecting crawler.

Preferably, the upper part of the garbage collection box is provided with a transparent baffle, and the fixed support is fixed on the transparent baffle.

Preferably, the output end of the driving motor is connected with a driving bevel gear, the driving bevel gear is meshed with a driven bevel gear, the driven bevel gear is fixed on a gear connecting rod, and two ends of the gear connecting rod are connected with two sides of the bottom shell through bearings and penetrate through the bottom shell to be connected with the Watt-I connecting rod mechanism.

Preferably, the Watt-I link mechanism includes a first link, a second link, a third link, a fourth link, and a fifth link, one end of the first link is hinged to the side of the bottom case, the other end of the first link is hinged to one end of the second link, the other end of the second link is hinged to the third link, the flipper is fixed below the third link, the other end of the third link is connected to one end of the fourth link, the other end of the fourth link is slidably connected to the first link, one end of the fifth link is fixedly connected to the gear link, and the other end of the fifth link is slidably connected to the second link.

Compared with the prior art, the beneficial effects of the utility model are that: the device adopts a motion mode of imitating lizard treading water to advance, has enough power, small and flexible volume and is not easy to wind sundries; the crawler-type garbage collection device is adopted, so that the collection efficiency is high, and the structure is simple; a stabilizing device is additionally arranged, so that the travelling is more stable; the whole cost is low, and the device is suitable for salvaging garbage on the water surface of a small lake.

Drawings

Fig. 1 is a schematic structural diagram of the present invention;

fig. 2 is a schematic view of the inside of the bottom case of the present invention.

Detailed Description

For ease of description, spatially relative terms such as "over … …", "over … …", "over … …", "over", etc. may be used herein to describe the spatial positional relationship of one device or feature to another device or feature as shown in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" may include both orientations of "above … …" and "below … …". The device may also be oriented 90 degrees or at other orientations and the spatially relative descriptors used herein interpreted accordingly.

The following detailed description of the preferred embodiments of the present invention is provided in connection with the accompanying drawings. As shown in fig. 1 and 2, a garbage collection robot based on lizard-simulated treading motion comprises a garbage collection box 1, a collection crawler 2 and a garbage collection arm 3, wherein the garbage collection arm is installed in the front of the collection crawler, the garbage collection box is installed in the rear of the collection crawler, and the collection crawler comprises a collection port, a crawler and a storage area. The camera 4 on the collection mouth combines the visual identification technique can accomplish the specific rubbish of accurate discernment, collects mouthful through controlling two collection claws and do the circumference swing and gather together rubbish in collecting mouthful, send rubbish to the storage area in by the track again.

The lower part of the garbage collection box is fixed with a bottom shell 5, a driving motor 6 is arranged in the bottom shell, the output end of the driving motor is connected with a Watt-I connecting rod mechanism 7 positioned on two sides of the bottom shell, the tail end of the Watt-I connecting rod mechanism is connected with a fin 8, the fin shape can take various forms, but the fin shape has enough contact area with water.

A steering motor 9 is arranged at the rear part inside the bottom shell, the output end of the steering motor is connected with a steering rod 10, and the lower end of the steering rod is connected with a tail fin 11;

the upper part of the garbage collection box is provided with a transparent baffle 12, and a fixed support 13 is fixed on the transparent baffle. The fixed support is connected with one end of a buoy connecting rod 14, and the other end of the buoy connecting rod is connected with a buoy 15.

Vertical plates 16 are respectively arranged on two sides of the collecting crawler. The collection arms are flared outwardly, which helps to get as much waste as possible into the collection area more quickly and accurately as the robot moves forward. The garbage in the collecting area is conveyed to the collecting box through the upward movement of the crawler belt, and the garbage collection is completed. The crawler belt is driven by a motor on the side face of the robot, water on the water surface and garbage are easily brought into the collecting box by the common crawler belt in the moving process, so that the crawler belt is specially designed, the V-shaped guide plate 17 is arranged on the crawler belt, the lower end of the V-shaped guide plate is provided with the opening 18, the friction force in the conveying process is increased, the water on the crawler belt conveniently flows out downwards through the opening, and the phenomenon of water accumulation in the collecting box is avoided. The camera is equipped with at the collection device front end, and accessible camera is with the image shooting of robot front end and transmit to the operator when remote operation, and the operating personnel of being convenient for carries out the clearance of pertinence rubbish.

The number of the buoy connecting rods and the number of the buoys are two, the buoy connecting rods and the buoys are located on two sides of the garbage collection box, and the buoys are of hemispherical structures. The machine is prevented from generating large left-right swing in the running process and further generating side turning.

In the device, a circuit control board and a battery are arranged in the bottom shell, the battery is used for operating each motor and the circuit control board, and the circuit control board is used as a control core of the robot and is communicated with a remote controller to control the robot to operate.

The output end of the driving motor is connected with a driving bevel gear 19, the driving bevel gear is meshed with a driven bevel gear 20, the driven bevel gear is fixed on a gear connecting rod 21, and two ends of the gear connecting rod are connected with two sides of the bottom shell through bearings and penetrate through the bottom shell to be connected with the Watt-I connecting rod mechanism. The Watt-I connecting rod mechanism comprises a first connecting rod 22, a second connecting rod 23, a third connecting rod 24, a fourth connecting rod 25 and a fifth connecting rod 26, one end of the first connecting rod is hinged with the side portion of the bottom shell, the other end of the first connecting rod is hinged with one end of the second connecting rod, the other end of the second connecting rod is hinged with the third connecting rod, the flipper is fixed below the third connecting rod, the other end of the third connecting rod is connected with one end of the fourth connecting rod, the other end of the fourth connecting rod is in sliding connection with the first connecting rod, one end of the fifth connecting rod is fixedly connected with the gear connecting rod, and the other end of the fifth connecting rod is in sliding connection with the second connecting rod. The motor outputs power to drive the bevel gear, the power is transmitted to the gear connecting rod shaft, the transmission ratio of the bevel gear is 2:1, the effects of reducing the rotating speed and increasing the torque are achieved, and the driving shaft can drive larger load. The power is transmitted to the Watt-I connecting rod mechanism by the gear connecting rod. The connecting rod mechanism is an improved Watt-I connecting rod mechanism, the mechanism diagram is shown in the figure, the lower flippers are driven by the Watt-I connecting rod to flap the water surface, the connecting rods on the left side and the right side do the motion with the phase difference of pi and the same track, and the device is driven to move forwards by the coordinated motion of the left flippers and the right flippers. The square stepping motor is connected with the tail fin, the motor drives the tail fin to do circular motion, the motion frequency of the tail fin is opposite to that of the front foot fin, namely, the left foot fin steps forwards out of the steering engine to rotate rightwards, and therefore the function of counteracting the torsion is achieved. When the steering engine rotates at different frequencies and angles, the steering engine can achieve the purpose of steering.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.

Claims

1. The utility model provides a garbage collection robot based on imitative lizard motion of stepping on water, includes garbage collection box, collects track and garbage collection arm, and wherein, the garbage collection arm is installed in the front portion of collecting the track, and the rear portion of track, its characterized in that are collected in the garbage collection box installation: a bottom shell is fixed at the lower part of the garbage collection box, a driving motor is arranged in the bottom shell, the output end of the driving motor is connected with Watt-I connecting rod mechanisms positioned at two sides of the bottom shell, the tail end of the Watt-I connecting rod mechanism is connected with a fin, a steering motor is arranged behind the bottom shell, the output end of the steering motor is connected with a steering rod, and the lower end of the steering rod is connected with a tail fin; the garbage collection box is characterized in that a fixed support is arranged at the rear of the upper part of the garbage collection box, the fixed support is connected with one end of a buoy connecting rod, and the other end of the buoy connecting rod is connected with a buoy.

2. The lizard-trampling-motion-based garbage collection robot according to claim 1, wherein the collection crawler is provided with a V-shaped guide plate, and the lower end of the V-shaped guide plate is provided with an opening.

3. The lizard-trampling-motion-based garbage collection robot according to claim 1, wherein vertical plates are respectively disposed on two sides of the collection crawler.

4. The lizard stepping motion-simulated garbage collection robot according to claim 1, wherein there are two buoy connecting rods and two buoys respectively located on two sides of the garbage collection box, and the buoys are of a hemispherical structure.

5. The lizard stepping motion-based garbage collection robot according to claim 1, wherein the bottom shell is internally provided with a circuit control board and a battery.

6. The lizard trampling motion-based garbage collection robot according to claim 1, wherein a camera is provided at a collection port of the collection crawler.

7. The lizard treading movement-simulated garbage collection robot as claimed in claim 1, wherein a transparent baffle is arranged at the upper part of the garbage collection box, and a fixed support is fixed on the transparent baffle.

8. The lizard treading movement-simulated garbage collection robot as claimed in claim 1, wherein a driving bevel gear is connected to an output end of the driving motor, the driving bevel gear is engaged with a driven bevel gear, the driven bevel gear is fixed on a gear connecting rod, and two ends of the gear connecting rod are connected with two sides of a bottom shell through bearings and penetrate through the bottom shell to be connected with the Watt-I connecting rod mechanism.

9. The lizard-trampling-based garbage collection robot according to claim 8, wherein the Watt-I link mechanism comprises a first link, a second link, a third link, a fourth link and a fifth link, wherein one end of the first link is hinged to the side portion of the bottom case, the other end of the first link is hinged to one end of the second link, the other end of the second link is hinged to the third link, the flipper is fixed below the third link, the other end of the third link is connected to one end of the fourth link, the other end of the fourth link is slidably connected to the first link, one end of the fifth link is fixedly connected to the gear link, and the other end of the fifth link is slidably connected to the second link.